Defaults¶

The settings of the firmware, read from its source at the release this site describes. The table leaves out the firmware's internal state (counters, flags, scratch variables).

Start value is the value in the firmware's structures (common.h). At power-up the firmware loads the saved settings from the EEPROM over it, so for a setting that #Save keeps the start value only shows until the EEPROM is read.
After #Default is what the driver runs with after #Default, which writes the factory values to the EEPROM and loads them. A fresh board, and a board whose saved configuration fails its check at power-up, gets the same values.
Kept by #Save says whether the setting survives a power cycle. No means the driver starts with the start value again after every power-up.

#Default also sets the CAN node ID to 0 and erases the calibration; see Saving the configuration.

Variable	Start value	After `#Default`	Kept by `#Save`	Firmware comment
`SERIAL_NUMBER`	1	1111 in the EEPROM, not read back	written, not read back
`HARDWARE_VERSION`	1	1	yes	Version of the Spectral BLDC driver PCB
`BATCH_DATE`	1	24092024	yes	Date the batch was produced
`SOFTWARE_VERSION`	1	107	no: set by the firmware	Software release
`I_AM_GRIPPER`	1	0	yes	Is motor controller gripper (1) or not (0)
`LED_ON_OFF`	1	1	yes	Use LED for status indication
`theta_offset`	0.0f	0	yes	will be determined at calibration
`pole_pairs`	11	7	yes	Number of pole pairs of your BLDC motor
`current_control_bandwidth`	500	—	no	default 200 HZ; Will set PI gains for Q and D current loops based on phase resistance
`DIR_`	1	0	yes	When looking at the magnetic encoder counter-clockwise is POSITIVE rotation.
`Phase_order`	2	0	yes
`commutation_dir`	1	1	yes	+1 or -1, auto-detected at calibration so +Iq/+velocity/+rotation map to +encoder rotation
`Thermistor_on_off`	0	0	yes	Are we taking termistor mesurements? 0 is off, 1 is on
`brake_coast`	0	—	no	Idle-mode (Controller_mode == 0) phase behavior: 0 = coast (driver disabled, Hi-Z), 1 = brake (driver stays enabled, zero-voltage PWM vector shorts the phases together)
`Resistance`	0	0	yes	Resistance of SINGLE PHASE of your BLDC motor
`Total_Resistance`	0	0	yes	= 2 * Resistance + 2 * R_sense + 2 *Rdson
`Inductance`	0	0	yes	Inductance of SINGLE PHASE of your BLDC motor
`Kt`	0	0	yes	Torque constant of your BLDC motor
`flux_linkage`	0	0	yes	Flux linkage of your BLDC motor
`KV`	0	0	yes
`Max_temperature`	75	75	yes	Max temperature in degrees
`Min_temperature`	-20	—	no	Min temperature in degrees
`Max_Vbus`	29500	29000	yes	Max vbus voltage in mV
`Min_Vbus`	9000	—	no	Min vbus voltage in mV
`watchdog_time_ms`	0	0	yes
`watchdog_action`	0	0	yes	Hold position, Idle, brake
`Heartbeat_rate_ms`	0	0	yes	Motor controller will send data every Heartbeat_rate_ms
`Calibrated`	0	0	yes	0 if motor is not calibrated, 1 if it is calibrated
`Resistance_calc_voltage`	1000	—	no	Voltage used to calculate resistance //1000
`Calibration_power`	12	—	no	Max power that can dissipate during inductance test.
`Open_loop_voltage`	5000	—	no	Voltage to use when spinning the motor open loop. In mV
`Open_loop_speed`	20.0	—	no	Speed to be used when spinning the motor open loop. In RAD/s
`Phase_voltage`	5000	—	no	Max voltage to be used during Kv calculation
`cyclic_period`	0	—	no	We send messages every cyclic_period
`CAN_ID`	0	0	yes	CAN id of THIS motor driver! No 2 motor drivers can share the same ID.
`calibration_offset_current`	300	—	no
`Voltage_limit`	0	0	yes	Voltage limit for Ud and Uq voltages. If 0 value of controller.VBUS_mV will be used
`Reset_integral_accumulator`	0	0	yes
`Kp_p`	11	11	yes
`Position_setpoint`	0	—	no
`Kp_v`	0.03	0.03	yes	0.006 basic values that work for most motors but not optimal
`Ki_v`	0.0003	0.0003	yes	0.0001 basic values that work for most motors but not optimal
`Feedforward_speed`	0	—	no
`Velocity_setpoint`	0	—	no	-1.5
`Velocity_limit`	800000	800000	yes	Clamp integrals to this [TICKS/s]
`Velocity_limit_error`	20000000	—	no	[TICKS/s] ; Velocity when we will report error
`Kp_id`	3	3	yes
`Ki_id`	1.5	1.5	yes
`Id_setpoint`	0	—	no
`Kp_iq`	3	3	yes
`Ki_iq`	1.5	1.5	yes
`Iq_current_limit`	1000	1000	yes
`Id_current_limit`	0	0	yes
`Feedforward_current`	0	—	no
`KD`	0.002800	0.0028	yes	[Nm*s/rad] KD 0.002800
`KP`	0.14000	0.1400	yes	[Nm/rad] KP 0.14000
`Uq_setpoint`	0	—	no
`Ud_setpoint`	0	—	no
`position_setpoint`	0	—	no
`speed_setpoint`	20	—	no
`current_setpoint`	200	—	no
`action_status`	0	—	no	-0 Stopped(or performing activation /automatic release).
`activated`	0	—	no
`release_direction`	0	—	no
`estop_status`	0	—	no

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